Application of a Chaotic Oscillator in an Autonomous Mobile Robot

Esteban Tlelo-Cuautle 1 , Hugo C. Ramos-López 2 , Mauro Sánchez-Sánchez 3 , Ana D. Pano-Azucena 4 , Luis A. Sánchez-Gaspariano 4 , José C. Núñez-Pérez 5  and Jorge L. Camas-Anzueto 2
  • 1 INAOE, Department of Electronics, Tonantzintla, Puebla 72840, México
  • 2 Instituto Tecnológico de Tuxtla Gutiérrez, Chiapas, México
  • 3 Universidad del Papaloapan, Campus Loma Bonita, Oaxaca, México
  • 4 Universidad Politécnica de Puebla, Puebla, México
  • 5 IPN-CITEDI, Tijuana, México,


Terrain exploration robots can be of great usefulness in critical navigation circumstances. However, the challenge is how to guarantee a control for covering a full terrain area. That way, the application of a chaotic oscillator to control the wheels of an autonomous mobile robot, is introduced herein. Basically, we describe the realization of a random number generator (RNG) based on a double-scroll chaotic oscillator, which is used to guide the robot to cover a full terrain area. The resolution of the terrain exploration area is determined by both the number of bits provided by the RNG and the characteristics of step motors. Finally, the experimental results highlight the covered area by painting the trajectories that the robot explores.

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